#ifndef JLINK_H #define JLINK_H #include #include #include "pid_flash.h" /* pid_sched_entry_t, PID_SCHED_MAX_BANDS */ /* * JLink -- Jetson serial binary protocol over USART1 (PB6=TX, PB7=RX). * * Issue #120: replaces jetson_cmd ASCII-over-USB-CDC with a dedicated * hardware UART at 921600 baud using DMA circular RX and IDLE interrupt. * * Frame format (both directions): * [STX=0x02][LEN][CMD][PAYLOAD...][CRC16_hi][CRC16_lo][ETX=0x03] * * STX : frame start sentinel (0x02) * LEN : count of CMD + PAYLOAD bytes (1 + payload_len) * CMD : command/telemetry type byte * PAYLOAD: 0..N bytes depending on CMD * CRC16 : CRC16-XModem over CMD+PAYLOAD (poly 0x1021, init 0), big-endian * ETX : frame end sentinel (0x03) * * Jetson to STM32 commands: * 0x01 HEARTBEAT - no payload; refreshes heartbeat timer * 0x02 DRIVE - int16 speed (-1000..+1000), int16 steer (-1000..+1000) * 0x03 ARM - no payload; request arm (same interlock as CDC 'A') * 0x04 DISARM - no payload; disarm immediately * 0x05 PID_SET - float kp, float ki, float kd (12 bytes, IEEE-754 LE) * 0x06 DFU_ENTER - no payload; request OTA DFU reboot (denied while armed) * 0x07 ESTOP - no payload; engage emergency stop * 0x08 AUDIO - int16 PCM samples (up to 126 samples) * 0x09 SLEEP - no payload; request STOP-mode sleep * 0x0A PID_SAVE - no payload; save current Kp/Ki/Kd to flash (Issue #531) * 0x0B GIMBAL_POS - int16 pan_x10, int16 tilt_x10, uint16 speed (Issue #547) * 0x0C SCHED_GET - no payload; reply with TLM_SCHED (Issue #550) * 0x0D SCHED_SET - uint8 num_bands + N*16-byte pid_sched_entry_t (Issue #550) * 0x0E SCHED_SAVE - float kp, ki, kd (12 bytes); save sched+single to flash (Issue #550) * * STM32 to Jetson telemetry: * 0x80 STATUS - jlink_tlm_status_t (20 bytes), sent at JLINK_TLM_HZ * 0x81 POWER - jlink_tlm_power_t (11 bytes), sent at PM_TLM_HZ * 0x82 BATTERY - jlink_tlm_battery_t (10 bytes, Issue #533) * 0x83 PID_RESULT - jlink_tlm_pid_result_t (13 bytes), sent after PID_SAVE (Issue #531) * 0x84 GIMBAL_STATE - jlink_tlm_gimbal_state_t (10 bytes, Issue #547) * 0x85 SCHED - jlink_tlm_sched_t (1+N*16 bytes), sent on SCHED_GET (Issue #550) * 0x86 MOTOR_CURRENT - jlink_tlm_motor_current_t (8 bytes, Issue #584) * * Priority: CRSF RC always takes precedence. Jetson steer/speed only applied * when mode_manager_active() == MODE_AUTONOMOUS (CH6 high). In RC_MANUAL and * RC_ASSISTED modes the Jetson speed offset and steer are injected via * mode_manager_set_auto_cmd() and blended per the existing blend ramp. * * Heartbeat: if no valid frame arrives within JLINK_HB_TIMEOUT_MS (1000ms), * jlink_is_active() returns false and the main loop clears the auto command. */ /* ---- Frame constants ---- */ #define JLINK_STX 0x02u #define JLINK_ETX 0x03u /* ---- Command IDs (Jetson to STM32) ---- */ #define JLINK_CMD_HEARTBEAT 0x01u #define JLINK_CMD_DRIVE 0x02u #define JLINK_CMD_ARM 0x03u #define JLINK_CMD_DISARM 0x04u #define JLINK_CMD_PID_SET 0x05u #define JLINK_CMD_DFU_ENTER 0x06u #define JLINK_CMD_ESTOP 0x07u #define JLINK_CMD_AUDIO 0x08u /* PCM audio chunk: int16 samples, up to 126 */ #define JLINK_CMD_SLEEP 0x09u /* no payload; request STOP-mode sleep */ #define JLINK_CMD_PID_SAVE 0x0Au /* no payload; save Kp/Ki/Kd to flash (Issue #531) */ #define JLINK_CMD_GIMBAL_POS 0x0Bu /* int16 pan_x10, int16 tilt_x10, uint16 speed (Issue #547) */ #define JLINK_CMD_SCHED_GET 0x0Cu /* no payload; reply TLM_SCHED (Issue #550) */ #define JLINK_CMD_SCHED_SET 0x0Du /* uint8 num_bands + N*16-byte entries (Issue #550) */ #define JLINK_CMD_SCHED_SAVE 0x0Eu /* float kp,ki,kd; save sched+single to flash (Issue #550) */ /* ---- Telemetry IDs (STM32 to Jetson) ---- */ #define JLINK_TLM_STATUS 0x80u #define JLINK_TLM_POWER 0x81u /* jlink_tlm_power_t (11 bytes) */ #define JLINK_TLM_BATTERY 0x82u /* jlink_tlm_battery_t (10 bytes, Issue #533) */ #define JLINK_TLM_PID_RESULT 0x83u /* jlink_tlm_pid_result_t (13 bytes, Issue #531) */ #define JLINK_TLM_GIMBAL_STATE 0x84u /* jlink_tlm_gimbal_state_t (10 bytes, Issue #547) */ #define JLINK_TLM_SCHED 0x85u /* jlink_tlm_sched_t (1+N*16 bytes, Issue #550) */ #define JLINK_TLM_MOTOR_CURRENT 0x86u /* jlink_tlm_motor_current_t (8 bytes, Issue #584) */ /* ---- Telemetry STATUS payload (20 bytes, packed) ---- */ typedef struct __attribute__((packed)) { int16_t pitch_x10; /* pitch degrees x10 */ int16_t roll_x10; /* roll degrees x10 */ int16_t yaw_x10; /* yaw degrees x10 (gyro-integrated) */ int16_t motor_cmd; /* ESC output -1000..+1000 */ uint16_t vbat_mv; /* battery millivolts */ int8_t rssi_dbm; /* CRSF RSSI (dBm, negative) */ uint8_t link_quality; /* CRSF LQ 0-100 */ uint8_t balance_state; /* 0=DISARMED, 1=ARMED, 2=TILT_FAULT */ uint8_t rc_armed; /* crsf_state.armed (1=armed) */ uint8_t mode; /* robot_mode_t: 0=RC_MANUAL,1=ASSISTED,2=AUTONOMOUS */ uint8_t estop; /* EstopSource value */ uint8_t soc_pct; /* state-of-charge 0-100, 255=unknown */ uint8_t fw_major; uint8_t fw_minor; uint8_t fw_patch; } jlink_tlm_status_t; /* 20 bytes */ /* ---- Telemetry POWER payload (11 bytes, packed) ---- */ typedef struct __attribute__((packed)) { uint8_t power_state; /* PowerState: 0=ACTIVE,1=SLEEP_PENDING,2=SLEEPING,3=WAKING */ uint16_t est_total_ma; /* estimated total current draw (mA) */ uint16_t est_audio_ma; /* estimated I2S3+amp current (mA); 0 if gated */ uint16_t est_osd_ma; /* estimated OSD SPI2 current (mA); 0 if gated */ uint32_t idle_ms; /* ms since last cmd_vel activity */ } jlink_tlm_power_t; /* 11 bytes */ /* ---- Telemetry BATTERY payload (10 bytes, packed) Issue #533 ---- */ typedef struct __attribute__((packed)) { uint16_t vbat_mv; /* DMA-sampled LPF-filtered Vbat (mV) */ int16_t ibat_ma; /* DMA-sampled LPF-filtered Ibat (mA, + = discharge) */ uint16_t vbat_raw_mv; /* unfiltered last-tick average (mV) */ uint8_t flags; /* bit0=low, bit1=critical, bit2=4S, bit3=adc_ready */ int8_t cal_offset; /* vbat_offset_mv / 4 (+-127 -> +-508 mV) */ uint8_t lpf_shift; /* IIR shift factor (alpha = 1/2^lpf_shift) */ uint8_t soc_pct; /* voltage-based SoC 0-100, 255 = unknown */ } jlink_tlm_battery_t; /* 10 bytes */ /* ---- Telemetry PID_RESULT payload (13 bytes, packed) Issue #531 ---- */ /* Sent after JLINK_CMD_PID_SAVE is processed; confirms gains written to flash. */ typedef struct __attribute__((packed)) { float kp; /* Kp saved */ float ki; /* Ki saved */ float kd; /* Kd saved */ uint8_t saved_ok; /* 1 = flash write verified, 0 = write failed */ } jlink_tlm_pid_result_t; /* 13 bytes */ /* ---- Telemetry GIMBAL_STATE payload (10 bytes, packed) Issue #547 ---- */ /* Sent at GIMBAL_TLM_HZ (50 Hz); reports measured pan/tilt and speed. */ typedef struct __attribute__((packed)) { int16_t pan_x10; /* Measured pan angle, deg x10 */ int16_t tilt_x10; /* Measured tilt angle, deg x10 */ uint16_t pan_speed_raw; /* Present speed register, pan servo */ uint16_t tilt_speed_raw; /* Present speed register, tilt servo */ uint8_t torque_en; /* 1 = torque enabled */ uint8_t rx_err_pct; /* bus error rate 0-100% (rx_err*100/(rx_ok+rx_err)) */ } jlink_tlm_gimbal_state_t; /* 10 bytes */ /* ---- Telemetry SCHED payload (1 + N*16 bytes, packed) Issue #550 ---- */ /* Sent in response to JLINK_CMD_SCHED_GET; N = num_bands (1..PID_SCHED_MAX_BANDS). */ typedef struct __attribute__((packed)) { uint8_t num_bands; /* number of valid entries */ pid_sched_entry_t bands[PID_SCHED_MAX_BANDS]; /* up to 6 x 16 = 96 bytes */ } jlink_tlm_sched_t; /* 1 + 96 = 97 bytes max */ /* ---- Telemetry MOTOR_CURRENT payload (8 bytes, packed) Issue #584 ---- */ /* Published at MOTOR_CURR_TLM_HZ; reports measured current and protection state. */ typedef struct __attribute__((packed)) { int32_t current_ma; /* filtered battery/motor current (mA, + = discharge) */ uint8_t limit_pct; /* soft-limit reduction applied: 0=none, 100=full cutoff */ uint8_t state; /* MotorCurrentState: 0=NORMAL,1=SOFT_LIMIT,2=COOLDOWN */ uint8_t fault_count; /* lifetime hard-cutoff trips (saturates at 255) */ uint8_t _pad; /* reserved */ } jlink_tlm_motor_current_t; /* 8 bytes */ /* ---- Volatile state (read from main loop) ---- */ typedef struct { /* Drive command - updated on JLINK_CMD_DRIVE */ volatile int16_t speed; /* -1000..+1000 */ volatile int16_t steer; /* -1000..+1000 */ /* Heartbeat timer - updated on any valid frame */ volatile uint32_t last_rx_ms; /* HAL_GetTick() of last valid frame; 0=none */ /* One-shot request flags - set by parser, cleared by main loop */ volatile uint8_t arm_req; volatile uint8_t disarm_req; volatile uint8_t estop_req; /* PID update - set by parser, cleared by main loop */ volatile uint8_t pid_updated; volatile float pid_kp; volatile float pid_ki; volatile float pid_kd; /* DFU reboot request - set by parser, cleared by main loop */ volatile uint8_t dfu_req; /* Sleep request - set by JLINK_CMD_SLEEP, cleared by main loop */ volatile uint8_t sleep_req; /* PID save request - set by JLINK_CMD_PID_SAVE, cleared by main loop (Issue #531) */ volatile uint8_t pid_save_req; /* Gimbal position command - set by JLINK_CMD_GIMBAL_POS (Issue #547) */ volatile uint8_t gimbal_updated; /* set by parser, cleared by main loop */ volatile int16_t gimbal_pan_x10; /* pan angle deg x10 */ volatile int16_t gimbal_tilt_x10; /* tilt angle deg x10 */ volatile uint16_t gimbal_speed; /* servo speed 0-4095 (0=max) */ /* PID schedule commands (Issue #550) - set by parser, cleared by main loop */ volatile uint8_t sched_get_req; /* SCHED_GET: main loop calls jlink_send_sched_telemetry() */ volatile uint8_t sched_save_req; /* SCHED_SAVE: main loop calls pid_schedule_flash_save() */ volatile float sched_save_kp; /* kp for single-PID record in SCHED_SAVE */ volatile float sched_save_ki; volatile float sched_save_kd; } JLinkState; extern volatile JLinkState jlink_state; /* ---- SCHED_SET receive buffer -- Issue #550 ---- */ /* * Populated by the parser on JLINK_CMD_SCHED_SET. Main loop reads via * jlink_get_sched_set() and calls pid_schedule_set_table() before clearing. */ typedef struct { volatile uint8_t ready; /* set by parser, cleared by main loop */ volatile uint8_t num_bands; pid_sched_entry_t bands[PID_SCHED_MAX_BANDS]; /* copied from frame */ } JLinkSchedSetBuf; /* ---- API ---- */ void jlink_init(void); bool jlink_is_active(uint32_t now_ms); void jlink_process(void); void jlink_send_telemetry(const jlink_tlm_status_t *status); void jlink_send_power_telemetry(const jlink_tlm_power_t *power); void jlink_send_battery_telemetry(const jlink_tlm_battery_t *batt); void jlink_send_pid_result(const jlink_tlm_pid_result_t *result); /* * jlink_send_gimbal_state(state) - transmit JLINK_TLM_GIMBAL_STATE (0x84) * frame (16 bytes) at GIMBAL_TLM_HZ (50 Hz). Issue #547. */ void jlink_send_gimbal_state(const jlink_tlm_gimbal_state_t *state); /* * jlink_send_sched_telemetry(tlm) - transmit JLINK_TLM_SCHED (0x85) in * response to SCHED_GET. tlm->num_bands determines actual frame size. * Issue #550. */ void jlink_send_sched_telemetry(const jlink_tlm_sched_t *tlm); /* * jlink_get_sched_set() - return pointer to the most-recently received * SCHED_SET payload buffer (static storage in jlink.c). Main loop calls * pid_schedule_set_table() from this buffer, then clears ready. Issue #550. */ JLinkSchedSetBuf *jlink_get_sched_set(void); /* * jlink_send_motor_current_tlm(tlm) - transmit JLINK_TLM_MOTOR_CURRENT (0x86) * frame (14 bytes total) to Jetson. Issue #584. * Rate-limiting is handled by motor_current_send_tlm(); call from there only. */ void jlink_send_motor_current_tlm(const jlink_tlm_motor_current_t *tlm); #endif /* JLINK_H */